Recording Hand-Held Laparoscopic Instrument Motion in the Operating Room: Magnetometer-Free Fusion of Inertial, Range and Visual Sensing

arXiv:2609.25577 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Comments: Submitted to IEEE ICRA 2027

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 10× in this paper · explained in 1 episode
• Alignment — 10× in this paper · explained in 1 episode
• Calibration — 10× in this paper · explained in 7 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Quaternion kinematics for the error-state Kalman filter

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